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Pick and Place Help

Hi Everybody! 

 

I'm working on modeling a robot cell with single robot in the centre of 6 stations, I haven't modeled anything like this yet and would like some input.  I've read through the forums and see that I should use the exit control on each station to call the robot, and then use the target control to determine where it goes.  

I'm not clear on how I should write the methods to accomplish this and how I set priority when 2 or more stations call at the same time.  

 Robot Cell.png

Thanks in advance for the help

 

8 REPLIES

Re: Pick and Place Help

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor
can you describe the task of the PickAndPlace more in detail?
Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place Help

The process is as follows:

  • Pallets with emtpy trays are brought to the cell
  • The robot transfers all of the empty trays to the tray storage areas inside the cell
  • Empty pallets stay at the cell waiting to be filled with full trays
  • 2 empty trays each of LH and RH are moved to the loading stations 
  • Parts will be placed onto the trays via the other 2 robots
  • When the trays are full the robot will move the full tray to a pallet, pick up another empty tray and put it on the load cell
  • The empty tray storage will hold a few additional trays to allow for changing of the pallet

 

Re: Pick and Place Help

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor
can you prepare a small example model?
Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place Help

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

only some ideas:

  • The robot transfers all of the empty trays to the tray storage areas inside the cell

- move in the exit control all trays to the robot, set the destination attributes of the trays to the store, so the robot can select the right exit

  • Empty pallets stay at the cell waiting to be filled with full trays
  • 2 empty trays each of LH and RH are moved to the loading stations

adress the trays --> e.g. store.cont.destination:=load_station1 -->  move to the robot

  • Parts will be placed onto the trays via the other 2 robots

exit control of the robot --> wait for tray --> move in the tray --> if tray full --> adress the tray --> move to the next robot --> wait some seconds and move a empty from the store tray to the robot

  • When the trays are full the robot will move the full tray to a pallet, pick up another empty tray and put it on the load cell
  • The empty tray storage will hold a few additional trays to allow for changing of the pallet

for set the destination of the robot --> see help: targetControl --> setDestination

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place Help

Ok thanks Steffen.  I'll do some work on it and let you know how it goes for me.  

Re: Pick and Place Help

So I've been slowly working on my model over the past few weeks and have gotten most things to work and your advise was very helpful.  

I'm currently on stuck with the robot picking trays of a pallet.  The robot will pick the first tray, place it in another station to be loaded, move the full tray to the store, and then stops there.  It won't go back to the station with the pallet and empty trays.  I've tried a number of things like forcing the robot to goto that station when its empty and the tray load station is empty, I've tried adding a for loop to the exit method on the empty tray station.  I've checked to make sure the exit is unlocked.  Not sure where to go with this one.....  I'm including the model I use to test new things on a smaller scale before I add them into my actual model.  

 

Re: Pick and Place Help

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

I think tray_load.OnEntrance is the right place for the control, after removing the filled tray, you need to move the next tray from the pallet to the pickAndPlace (after adressing it)

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place Help

Thanks that worked.  I added that control to the OnEntrance method for the full tray store object. 

 

Now the challenge of scaling this up into my larger model.

 

Merry X-Mas!